btGjkPairDetector.h

/*Bullet Continuous Collision Detection and Physics LibraryCopyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/This software is provided 'as-is', without any express or implied warranty.In no event will the authors be held liable for any damages arising from the use of this software.Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.3. This notice may not be removed or altered from any source distribution.*/#ifndef GJK_PAIR_DETECTOR_H#define GJK_PAIR_DETECTOR_H#include "btDiscreteCollisionDetectorInterface.h"#include "LinearMath/btPoint3.h"#include <BulletCollision/CollisionShapes/btCollisionMargin.h>class btConvexShape;
#include "btSimplexSolverInterface.h"class btConvexPenetrationDepthSolver;
/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface00032class btGjkPairDetector : publicbtDiscreteCollisionDetectorInterface
{
btVector3 m_cachedSeparatingAxis;
btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
btSimplexSolverInterface* m_simplexSolver;
btConvexShape* m_minkowskiA;
btConvexShape* m_minkowskiB;
bool m_ignoreMargin;
public:
//some debugging to fix degeneracy problemsint m_lastUsedMethod;
int m_curIter;
int m_degenerateSimplex;
int m_catchDegeneracies;
btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~btGjkPairDetector() {};
virtualvoid getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
void setMinkowskiA(btConvexShape* minkA)
{
m_minkowskiA = minkA;
}
void setMinkowskiB(btConvexShape* minkB)
{
m_minkowskiB = minkB;
}
void setCachedSeperatingAxis(constbtVector3& seperatingAxis)
{
m_cachedSeparatingAxis = seperatingAxis;
}
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
{
m_penetrationDepthSolver = penetrationDepthSolver;
}
///don't use setIgnoreMargin, it's for Bullet's internal use00078voidsetIgnoreMargin(bool ignoreMargin)
{
m_ignoreMargin = ignoreMargin;
}
};
#endif //GJK_PAIR_DETECTOR_H